clear;

%% cart
global M m l g K_LQR
M =0.5;
m = 0.5;
l = 0.3;
g = 9.81;
wheel_damping = 1e-4;

x_0 = 0;
y_0 = 0.15;
q_0 = 10;

LQR = 1;
% LSTM = 0;

if LQR
    K_LQR = cartPoleLQR;
end

% if LSTM 
%     load("LSTMPolicy.mat");
%     global policy
% end
%%

% clear;
% 
% %% cart-pole properties
% global M m l g K_LQR
% M = 0.5;
% m = 0.5;
% l = 0.3;
% g = 9.81;
% 
% wheel_damping = 1e-5;
% joint_damping = 1e-5;
% 
% %% cart-pole initial condition
% x_0 = 0;
% y_0 = 0.125;
% q_0 = 35; %degree 15 30 45 ...

%% Controllers
% LQR = 0;
% LSTM = 1;
% 
% if LQR
%     K_LQR = cartPoleLQR
% end
% 
% if LSTM 
%     load("LSTMPolicy.mat");
%     global policy
% end